Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned

@article{Tranzatto2022TeamCW,
  title={Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned},
  author={Marco Tranzatto and Mihir Dharmadhikari and Lukas Bernreiter and Marco Camurri and Shehryar Khattak and Frank Mascarich and Patrick Pfreundschuh and David Wisth and Samuel Zimmermann and Mihir Kulkarni and Victor Reijgwart and Benoit Casseau and Timon Homberger and Paolo De Petris and Lionel Ott and Wayne Tubby and Gabriel Waibel and Huan Nguyen and C{\'e}sar Cadena and Russell Buchanan and Lorenz Wellhausen and Nikhil Khedekar and Olov Andersson and LinTong Zhang and Takahiro Miki and Tung Dang and Mat{\'i}as Mattamala and Markus Montenegro and Konrad Meyer and Xiangyu Wu and Adrien Briod and Mark Wilfried Mueller and Maurice F. Fallon and Roland Y. Siegwart and Marco Hutter and Kostas Alexis},
  journal={ArXiv},
  year={2022},
  volume={abs/2207.04914}
}
This article presents the CERBERUS robotic system-of-systems, which won the DARPA Subterranean Challenge Final Event in 2021. The Subterranean Challenge was organized by DARPA with the vision to facilitate the novel technologies necessary to reliably explore diverse underground environments despite the grueling challenges they present for robotic autonomy. Due to their geometric complexity, degraded perceptual conditions combined with lack of GPS support, austere navigation conditions, and… 

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